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根据轮式移动机器人具有非完整约束特点,基于其运动学模型对机器人的轨迹跟踪控制问题进行了研究。采用Lyapunov函数直接法的思想设计机器人轨迹跟踪控制算法,并且直观地分析了系统的全局渐进稳定性.最后应用到MATLAB中对圆轨迹、螺旋线轨迹进行跟踪仿真试验,仿真结果表明位姿误差在2 s时刻趋近于零,轨迹跟踪效果良好,系统具有很好的全局渐进稳定性。
According to the characteristics of wheeled mobile robots with nonholonomic constraints, the robot trajectory tracking control problem is studied based on its kinematics model. The Lyapunov function direct method is used to design the robot trajectory tracking control algorithm, and the global asymptotic stability of the system is intuitively analyzed.Finally, MATLAB is used to simulate the trajectory of the circular and spiral trajectories. The simulation results show that the pose error is between 2 s moment close to zero, trajectory tracking effect is good, the system has good global asymptotic stability.